Add hand_eye_calibration_sim config #873
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| cmake_minimum_required(VERSION 3.22) | ||
| project(hand_eye_calibration_sim) | ||
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| find_package(ament_cmake REQUIRED) | ||
| find_package(picknik_accessories REQUIRED) | ||
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| # Install all XML files in directory | ||
| set(PICKNIK_ACCESSORIES_SHARE_DIR | ||
| "${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/" | ||
| ) | ||
| # Destination directory | ||
| set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/") | ||
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| install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}" | ||
| DESTINATION "${DEST_DIR}" | ||
| FILES_MATCHING PATTERN "*") | ||
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| install( | ||
| DIRECTORY | ||
| config | ||
| description | ||
| launch | ||
| objectives | ||
| waypoints | ||
| DESTINATION | ||
| share/${PROJECT_NAME} | ||
| ) | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
| endif() | ||
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| ament_package() | ||
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| Any contribution that you make to this repository will | ||
| be under the 3-Clause BSD License, as dictated by that | ||
| [license](https://opensource.org/licenses/BSD-3-Clause). | ||
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| # Contributing to this Repository | ||
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| Thanks for getting involved! If you want to add to this repository, please reach out to support@picknik.ai. |
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| Redistribution and use in source and binary forms, with or without | ||
| modification, are permitted provided that the following conditions are met: | ||
|
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There was a problem hiding this comment. 🔒 Security & Privacy | 🟠 Major | ⚡ Quick win Add the package copyright notice. This BSD-3-Clause file starts with the license conditions but does not identify a copyright holder. Add the repository-approved copyright line at the top, consistent with 🤖 Prompt for AI Agents |
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| * Redistributions of source code must retain the above copyright | ||
| notice, this list of conditions and the following disclaimer. | ||
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| * Redistributions in binary form must reproduce the above copyright | ||
| notice, this list of conditions and the following disclaimer in the | ||
| documentation and/or other materials provided with the distribution. | ||
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| * Neither the name of the copyright holder nor the names of its | ||
| contributors may be used to endorse or promote products derived from | ||
| this software without specific prior written permission. | ||
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| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| POSSIBILITY OF SUCH DAMAGE. | ||
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| # hand_eye_calibration_sim | ||
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| A MoveIt Pro simulation for validating hand-eye camera calibration. The scene | ||
| mirrors a mixed-mode multi-camera setup: a wrist-mounted camera (eye-in-hand) | ||
| that observes a world-fixed ChArUco board, and two fixed scene cameras | ||
| (eye-to-hand) that observe a ChArUco board rigidly mounted to the robot wrist. | ||
| Every camera and board pose is a designed value in the MJCF, so calibration | ||
| results can be asserted against exact ground truth. | ||
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| The package is hidden from the user-facing configuration list via | ||
| `MOVEIT_PRO_IGNORE`; it exists for QA of the calibration Behaviors and | ||
| Objectives (moveit_pro issues #19835, #20570, #20572). | ||
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| ## ChArUco boards | ||
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| Generated by `scripts/generate_charuco_boards.py` (run it inside the dev | ||
| container to regenerate the PNGs in `description/assets/`). The two boards use | ||
| distinct dictionaries so detections stay unambiguous when a camera sees both. | ||
| These parameters are the intended defaults for the `DetectCharucoBoard` | ||
| Behavior ports. | ||
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| | Board | Dictionary | Squares (x by y) | Square size | Marker size | Physical size | | ||
| |---|---|---|---|---|---| | ||
| | World board | `DICT_4X4_50` | 7 by 5 | 0.035 m | 0.026 m | 0.245 x 0.175 m | | ||
| | Flange board | `DICT_5X5_50` | 5 by 4 | 0.030 m | 0.022 m | 0.150 x 0.120 m | | ||
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| The textures are drawn with `marginSize=0`, so the chessboard exactly spans the | ||
| plate geom's top face: interior corner `(i, j)` sits at | ||
| `(i * square_length, j * square_length)` from the plate corner. The in-plane | ||
| orientation of the texture on the plate (which plate corner is the OpenCV board | ||
| origin) must be pinned empirically from a rendered image when the calibration | ||
| QA objectives land; only the plate poses below are designed values. | ||
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There was a problem hiding this comment. 🗄️ Data Integrity & Integration | 🟠 Major | 🏗️ Heavy lift 🧩 Analysis chain🏁 Script executed: #!/bin/bash
set -e
printf '%s\n' '--- candidate files ---'
git ls-files | rg '(^|/)(README\.md|.*(charuco|chess|board|texture|calib).*)$' | head -200
printf '%s\n' '--- README outline ---'
ast-grep outline src/hand_eye_calibration_sim/README.md 2>/dev/null || true
printf '%s\n' '--- README lines ---'
cat -n src/hand_eye_calibration_sim/README.md | sed -n '1,120p'
printf '%s\n' '--- relevant references ---'
rg -n -i -C 3 'world_board|flange_board|marginSize|square_length|OpenCV board|ChArUco|chessboard|texture|calibration' . --glob '!node_modules' --glob '!build' --glob '!dist' | head -400Repository: PickNikRobotics/moveit_pro_example_ws Length of output: 42289 🏁 Script executed: #!/bin/bash
set -e
for f in \
src/hand_eye_calibration_sim/scripts/generate_charuco_boards.py \
src/hand_eye_calibration_sim/description/scene.xml \
src/hand_eye_calibration_sim/description/ur5e_hand_eye.xml; do
printf '\n--- %s ---\n' "$f"
wc -l "$f"
ast-grep outline "$f" 2>/dev/null || true
done
printf '\n--- generator ---\n'
cat -n src/hand_eye_calibration_sim/scripts/generate_charuco_boards.py
printf '\n--- scene board-related sections ---\n'
rg -n -C 12 'charuco|board|plate|world_board|flange_board|top' src/hand_eye_calibration_sim/description/scene.xml
printf '\n--- hand-eye board-related sections ---\n'
rg -n -C 12 'charuco|board|plate|flange_board|top' src/hand_eye_calibration_sim/description/ur5e_hand_eye.xml
printf '\n--- asset metadata ---\n'
file src/hand_eye_calibration_sim/description/assets/charuco_world_board.png \
src/hand_eye_calibration_sim/description/assets/charuco_flange_board.pngRepository: PickNikRobotics/moveit_pro_example_ws Length of output: 15759 🏁 Script executed: #!/bin/bash
set -e
python3 - <<'PY'
from pathlib import Path
import struct, zlib
import xml.etree.ElementTree as ET
root = Path("src/hand_eye_calibration_sim")
for name, expected in [
("description/assets/charuco_world_board.png", (1400, 1000)),
("description/assets/charuco_flange_board.png", (1000, 800)),
]:
p = root / name
data = p.read_bytes()
assert data[:8] == b"\x89PNG\r\n\x1a\n", name
w, h, depth, color, *_ = struct.unpack(">IIBBBBB", data[16:29])
print(name, "dimensions=", (w, h), "bit_depth=", depth, "color_type=", color)
assert (w, h) == expected
pos = 8
idat = b""
while pos < len(data):
n = struct.unpack(">I", data[pos:pos+4])[0]
typ = data[pos+4:pos+8]
chunk = data[pos+8:pos+8+n]
pos += 12 + n
if typ == b"IDAT":
idat += chunk
if typ == b"IEND":
break
raw = zlib.decompress(idat)
channels = {0: 1, 2: 3, 3: 1, 4: 2, 6: 4}[color]
stride = w * channels
rows = []
i = 0
prev = bytearray(stride)
for y in range(h):
filt = raw[i]; i += 1
row = bytearray(raw[i:i+stride]); i += stride
# PNG unfilter for the generated 8-bit grayscale/RGB image.
for x in range(stride):
a = row[x-channels] if x >= channels else 0
b = prev[x]
c = prev[x-channels] if x >= channels else 0
if filt == 1: row[x] = (row[x] + a) & 255
elif filt == 2: row[x] = (row[x] + b) & 255
elif filt == 3: row[x] = (row[x] + ((a+b)//2)) & 255
elif filt == 4:
p0 = a + b - c
pa, pb, pc = abs(p0-a), abs(p0-b), abs(p0-c)
row[x] = (row[x] + (a if pa <= pb and pa <= pc else b if pb <= pc else c)) & 255
elif filt != 0: raise ValueError(f"unsupported filter {filt}")
rows.append(row)
prev = row
def px(x, y):
vals = rows[y][x*channels:(x+1)*channels]
return tuple(vals)
print(" corners:", {k: px(*xy) for k, xy in {
"top_left": (0,0), "top_right": (w-1,0),
"bottom_left": (0,h-1), "bottom_right": (w-1,h-1),
"center": (w//2,h//2)}.items()})
# Sample each square center. This identifies the alternating pattern
# and the image's top/bottom convention without decoding repository code.
sx, sy = expected[0] // (7 if "world" in name else 5), expected[1] // (5 if "world" in name else 4)
print(" square-center luminance samples:",
[[px((x*2+1)*sx//2, (y*2+1)*sy//2)[0]
for x in range(expected[0]//sx)] for y in range(expected[1]//sy)])
for xml_name in ["description/scene.xml", "description/ur5e_hand_eye.xml"]:
text = (root / xml_name).read_text()
print(xml_name, "texture references:",
[line.strip() for line in text.splitlines() if "texture=" in line or 'file="assets/charuco' in line])
PYRepository: PickNikRobotics/moveit_pro_example_ws Length of output: 1102 🌐 Web query:
💡 Result: In MuJoCo, using a 2D texture on a box geom results in automatic, non-uniform mapping that often causes visual stretching on four of the six faces [1][2]. The default 2D texture coordinate generator maps a 2D image to 3D space by projecting it [1][2]. For a box geom, the two faces whose normals are aligned with the Z-axis of the geom's local frame appear normal, while the other four faces (sides) appear stretched because the texture coordinates are essentially projected along the Z-axis [1][2]. Consequently, you cannot explicitly configure the 2D texture coordinates for a primitive box geom in the XML; the mapping is determined by the automatic generator [1][2]. If you require precise control over texture coordinates (e.g., to prevent stretching or orient the texture specifically on each face), you must use a mesh geom instead of a primitive box [3][4]. Mesh geoms allow you to provide explicit texture coordinates via OBJ or MSH files, which take priority over any automatic mapping mechanisms [3][5]. You can define these coordinates in an external modeling tool and export them as part of the mesh file [3][4]. For controlling the scale of the 2D texture, you can use the texrepeat attribute within the material element [1][2]. Additionally, if a 2D texture is unsuitable for your needs, consider using a cube texture, which is specifically designed to handle all sides of a box without the stretching artifacts common to 2D projections [1][2]. Citations:
🌐 Web query:
💡 Result: In OpenCV, the coordinate system for a ChArUco board is located in the board plane, centered at the bottom-left corner of the board [1][2]. The orientation is such that the X and Y axes lie within the plane of the board, and the Z axis is perpendicular to it [1][2]. Important developments to note regarding the coordinate system and orientation: 1. Incompatible Change (OpenCV 4.6.0+): As of OpenCV 4.6.0, there was a breaking change in the coordinate system [1][2]. Prior to this version, the Z-axis pointed out of the board plane [3][4][5]. In version 4.6.0 and later, the Z-axis points into the board plane [1][2]. This change affects pose estimation results [6]. 2. Axis Drawing: You can visualize this coordinate system using the Citations:
Pin and validate the ChArUco board-frame mapping. The MJCF defines plate poses, but it does not define which plate corner maps to the OpenCV board origin. Document the image-to-geom axis mapping and validate it from a rendered image before using 🤖 Prompt for AI Agents |
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| ## Ground-truth transforms | ||
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| All values are exactly as placed in the MJCF (`description/scene.xml` and | ||
| `description/ur5e_hand_eye.xml`). Rotations are given exactly as they appear in | ||
| the MJCF: quaternions in MuJoCo (w, x, y, z) order where the MJCF uses `quat`, | ||
| euler angles (radians, extrinsic x-y-z) where it uses `euler`. Optical frames | ||
| follow REP 103 (the camera pose rotated 180 degrees about its x-axis). | ||
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| | Frame | Relative to | Position (m) | Rotation | | ||
| |---|---|---|---| | ||
| | `wrist_camera_optical_frame` | `wrist_3_link` | (0, 0.2, 0.05) | euler (-1.57, 0, 0) | | ||
| | `scene_camera_1_optical_frame` | world | (0.917266, 1.074437, 1.861509) | quat (0.233342, -0.306871, -0.734484, 0.558494) | | ||
| | `scene_camera_2_optical_frame` | world | (-0.401516, 1.072484, 1.82102) | quat (0.244002, -0.306655, 0.719923, -0.572833) | | ||
| | `world_board` (plate center) | world | (0.266, 0.650113, 0.665599) | quat (0.972489, 0.232951, 0, 0) | | ||
| | `flange_board` (plate center) | `wrist_3_link` | (0, 0.14, 0.16) | euler (0.6435, 0, 0) | | ||
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| The board top faces (the textured faces) are at +0.004 m along each plate's | ||
| local z-axis; sites `world_board_top` and `flange_board_top` mark them. | ||
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| Expected calibration results: | ||
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| - Eye-in-hand: the wrist camera extrinsic must recover | ||
| `wrist_3_link -> wrist_camera_optical_frame`, and the fiducial mount must | ||
| recover the world board pose. | ||
| - Eye-to-hand: each scene camera extrinsic must recover that camera's pose in | ||
| the robot base frame, and the fiducial mount must recover | ||
| `wrist_3_link -> flange_board`. The scene camera poses above are world-frame | ||
| values; convert through the robot's base pose (which depends on the linear | ||
| rail position) when asserting in the base frame. | ||
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| ## Notes | ||
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| - The wrist camera pose is fixed by the shared ur5e model in | ||
| `picknik_accessories`; `description/ur5e_hand_eye.xml` is a copy of that | ||
| model that adds only the rigidly attached flange board (MJCF includes are | ||
| textual, so the board cannot be attached from the scene file, and a weld | ||
| constraint would be soft and corrupt the ground truth). | ||
| - All cameras render at 1280x720 with `fovy` 58 degrees; the offscreen buffer | ||
| must match every camera resolution exactly. | ||
| - Both board plates have contact disabled. They are calibration targets and | ||
| are not part of the URDF, so the motion planner does not know about them. | ||
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| For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/) | ||
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| # | ||
| # This contains information for a unique instance of a robot. | ||
| # | ||
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| # Name of the package to specialize | ||
| based_on_package: "lab_sim" | ||
| runtime_launch_file: | ||
| package: "hand_eye_calibration_sim" | ||
| path: "launch/runtime.launch.xml" | ||
| hardware: | ||
| # Parameters used to configure the robot description through XACRO. | ||
| # A URDF and SRDF are both required. | ||
| # [Required] | ||
| robot_description: | ||
| urdf: | ||
| package: "lab_sim" | ||
| path: "description/picknik_ur.xacro" | ||
| srdf: | ||
| package: "lab_sim" | ||
| path: "config/moveit/picknik_ur.srdf" | ||
| urdf_params: | ||
| - mujoco_model_package: "hand_eye_calibration_sim" | ||
| # Configuration for loading behaviors and objectives. | ||
| # [Required] | ||
| objectives: | ||
| # Specify source folder for objectives | ||
| # [Required] | ||
| objective_library_paths: | ||
| mujoco_objectives: | ||
| package_name: "moveit_pro_objectives" | ||
| relative_path: "objectives/mujoco" | ||
| sim_objectives: | ||
| package_name: "hand_eye_calibration_sim" | ||
| relative_path: "objectives" | ||
| # Specify the location of the saved waypoints file. | ||
| # [Required] | ||
| waypoints_file: | ||
| package_name: "hand_eye_calibration_sim" | ||
| relative_path: "waypoints/ur_waypoints.yaml" |
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| Copyright 2018 ROS Industrial Consortium | ||
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| Redistribution and use in source and binary forms, with or without modification, | ||
| are permitted provided that the following conditions are met: | ||
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| 1. Redistributions of source code must retain the above copyright notice, this | ||
| list of conditions and the following disclaimer. | ||
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| 2. Redistributions in binary form must reproduce the above copyright notice, | ||
| this list of conditions and the following disclaimer in the documentation and/or | ||
| other materials provided with the distribution. | ||
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| 3. Neither the name of the copyright holder nor the names of its contributors | ||
| may be used to endorse or promote products derived from this software without | ||
| specific prior written permission. | ||
|
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| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND | ||
| ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR | ||
| ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON | ||
| ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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| <!-- Hand-eye calibration QA scene: UR5e on a linear rail with a wrist camera | ||
| (eye-in-hand), two fixed scene cameras (eye-to-hand), a world-fixed | ||
| ChArUco board, and a wrist-mounted ChArUco board. The camera and board | ||
| poses below are the calibration ground truth; they are documented in the | ||
| package README and asserted by the calibration QA objectives. --> | ||
| <mujoco model="ur5e hand eye calibration scene"> | ||
| <include file="ur5e/ur5e_linear_rail_globals.xml" /> | ||
| <include file="lab_desk/desk_globals.xml" /> | ||
| <include file="robotiq_2f85/robotiq2f85_globals.xml" /> | ||
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| <compiler angle="radian" autolimits="true" /> | ||
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| <option integrator="implicitfast" timestep="0.003" /> | ||
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| <!-- Offscreen buffer must EXACTLY match every non-lidar camera resolution | ||
| (picknik_mujoco_ros cameras.cpp). Single shared buffer for all cameras, | ||
| so scene_camera_1 and scene_camera_2 below plus wrist_camera (1280x720) | ||
| from the ur5e include must all be 1280x720, or ros2_control_node aborts | ||
| on load. --> | ||
| <visual> | ||
| <global offwidth="1280" offheight="720" /> | ||
| </visual> | ||
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| <asset> | ||
| <!-- ChArUco board textures, generated by scripts/generate_charuco_boards.py. | ||
| The world board is DICT_4X4_50 7x5 squares (square 0.035 m, marker | ||
| 0.026 m); the flange board is DICT_5X5_50 5x4 squares (square 0.030 m, | ||
| marker 0.022 m). Distinct dictionaries keep detections unambiguous | ||
| when a camera sees both boards. --> | ||
| <texture | ||
| name="charuco_world" | ||
| type="2d" | ||
| file="assets/charuco_world_board.png" | ||
| /> | ||
| <material | ||
| name="charuco_world_material" | ||
| texture="charuco_world" | ||
| texuniform="false" | ||
| /> | ||
| <texture | ||
| name="charuco_flange" | ||
| type="2d" | ||
| file="assets/charuco_flange_board.png" | ||
| /> | ||
| <material | ||
| name="charuco_flange_material" | ||
| texture="charuco_flange" | ||
| texuniform="false" | ||
| /> | ||
| </asset> | ||
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| <worldbody> | ||
| <light pos="0 0 1.5" dir="0 0 -1" directional="true" /> | ||
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| <light | ||
| name="spotlight" | ||
| mode="targetbodycom" | ||
| target="wrist_2_link" | ||
| pos="0 -1 2" | ||
| /> | ||
| <geom | ||
| name="floor" | ||
| pos="0 0 -0.512" | ||
| size="0 0 0.05" | ||
| type="plane" | ||
| material="groundplane" | ||
| /> | ||
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| <!-- Fixed scene cameras (eye-to-hand). Both sit high on the +Y side, | ||
| the hemisphere the wrist plate faces at the calibration pose, aimed | ||
| just above the wrist from different azimuths so the world board stays | ||
| below their frames: overlapping but not identical fields of view, so | ||
| partial per-camera board visibility is exercisable. Each optical-frame | ||
| site is the camera pose rotated 180 degrees about its x-axis (REP 103 | ||
| optical convention). --> | ||
| <site | ||
| name="scene_camera_1_optical_frame" | ||
| pos="0.917266 1.074437 1.861509" | ||
| quat="0.233342 -0.306871 -0.734484 0.558494" | ||
| /> | ||
| <camera | ||
| name="scene_camera_1" | ||
| pos="0.917266 1.074437 1.861509" | ||
| fovy="58" | ||
| mode="fixed" | ||
| resolution="1280 720" | ||
| quat="0.306871 0.233342 0.558494 0.734484" | ||
| /> | ||
| <geom | ||
| name="scene_camera_1_pedestal" | ||
| type="box" | ||
| pos="0.917266 1.074437 0.644754" | ||
| size="0.05 0.05 1.156754" | ||
| rgba="0.3 0.3 0.3 1" | ||
| contype="0" | ||
| conaffinity="0" | ||
| /> | ||
| <site | ||
| name="scene_camera_2_optical_frame" | ||
| pos="-0.401516 1.072484 1.82102" | ||
| quat="0.244002 -0.306655 0.719923 -0.572833" | ||
| /> | ||
| <camera | ||
| name="scene_camera_2" | ||
| pos="-0.401516 1.072484 1.82102" | ||
| fovy="58" | ||
| mode="fixed" | ||
| resolution="1280 720" | ||
| quat="0.306655 0.244002 -0.572833 -0.719923" | ||
| /> | ||
| <geom | ||
| name="scene_camera_2_pedestal" | ||
| type="box" | ||
| pos="-0.401516 1.072484 0.62451" | ||
| size="0.05 0.05 1.13651" | ||
| rgba="0.3 0.3 0.3 1" | ||
| contype="0" | ||
| conaffinity="0" | ||
| /> | ||
|
|
||
| <!-- World-fixed ChArUco board (eye-in-hand target), on a stand | ||
| 0.75 m down the wrist camera's boresight at the calibration pose, | ||
| tilted to face the camera. Physical size 0.245 x 0.175 m (7 x 5 squares of 0.035 m), | ||
| matching assets/charuco_world_board.png exactly. Contact is disabled: | ||
| the board is a calibration target, not a manipulation surface. --> | ||
| <body | ||
| name="world_board" | ||
| pos="0.266 0.650113 0.665599" | ||
| quat="0.972489 0.232951 0 0" | ||
| > | ||
| <geom | ||
| name="world_board_plate" | ||
| type="box" | ||
| size="0.1225 0.0875 0.004" | ||
| material="charuco_world_material" | ||
| contype="0" | ||
| conaffinity="0" | ||
| /> | ||
| <site name="world_board_top" pos="0 0 0.004" /> | ||
| </body> | ||
| <body name="world_board_stand" pos="0.266 0.700113 0.08218"> | ||
| <geom | ||
| type="box" | ||
| size="0.02 0.02 0.59418" | ||
| rgba="0.3 0.3 0.3 1" | ||
| contype="0" | ||
| conaffinity="0" | ||
| /> | ||
| </body> | ||
|
|
||
| <include file="ur5e_linear_rail_hand_eye.xml" /> | ||
| </worldbody> | ||
|
|
||
| <keyframe> | ||
| <!-- The calibration pose: arm up, wrist camera looking forward-down at | ||
| the world board, wrist plate facing up toward the scene cameras. | ||
| qpos follows JOINT order: linear_rail (1), shoulder_pan..wrist_3 (6), | ||
| robotiq right knuckle (1), 7 gripper mimic joints. ctrl follows | ||
| ACTUATOR order, which differs: shoulder_pan..wrist_3 (6), | ||
| linear_rail, gripper. Keep both orders straight or the held pose | ||
| will not match the spawned pose. --> | ||
| <key | ||
| name="default" | ||
| qpos=" | ||
| 0 | ||
| 0 -1.8849 1.0997 -1.2566 -1.57075 0 | ||
| 0 | ||
| 0 0 0 0 0 0 0" | ||
| ctrl="0 -1.8849 1.0997 -1.2566 -1.57075 0 0 0" | ||
| /> | ||
| </keyframe> | ||
| </mujoco> |
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🩺 Stability & Availability | 🟠 Major | ⚡ Quick win
🧩 Analysis chain
🏁 Script executed:
Repository: PickNikRobotics/moveit_pro_example_ws
Length of output: 45122
🏁 Script executed:
Repository: PickNikRobotics/moveit_pro_example_ws
Length of output: 12766
Resolve package paths through the ament package index.
The source path assumes an isolated install layout. Merged or system installs can make
find_package(picknik_accessories)succeed while this path is invalid. The absoluteDEST_DIRalso prevents relocation withcmake --install --prefix.Resolve the dependency share directory through an ament index helper or exported CMake path. Use a relative destination such as
share/${PROJECT_NAME}/description.🤖 Prompt for AI Agents